High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation

Kubela, Tomas; Pochyly, Ales; Singule, Vladislav

doi:10.1109/edpe.2019.8883912

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…Through the KUKA RSI (Robot Sensor Interface), the robot position is compensated in 4 ms, which improves the part accuracy by approximately 15%-20%. 18 A similar approach was adopted by other researchers. 19,20 RC (robot control) considered not only the motion control but also the interface to communicate with an external sensor system according to the specific robot from different manufacturers.…”

Section: Introductionmentioning

confidence: 99%

Dynamic behavior and path accuracy of an industrial robot with a CNC controller

Kuhlenkoetter

2022

Advances in Mechanical Engineering

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The application of industrial robots in the field of machining is gradually increasing, but their low absolute position accuracy and low stiffness affect the improvement of machining accuracy. Computer numerical control (CNC) has good performance to control the motion accuracy in the machine tool. Therefore, it is proposed to improve the motion accuracy of robots. This article utilizes a stereo high-speed camera to track robot motion. Circular paths running under the CNC system are planned to evaluate its performance, which includes path accuracy, motion velocity, and acceleration. The performance of identical paths running in a conventional robot controller is evaluated for comparison. Based on the experimental analysis, the CNC system, which has more functionalities for acceleration regulation, can get better path accuracy and stability. It indicates that acceleration control has a significant effect on path accuracy and motion velocity. The acceleration profile in a conventional robot controller resembles a triangle. By default, the maximum acceleration value is adopted for the motion planning. Therefore, its accelerating and decelerating phase is much shorter than that of the CNC system, which could lead to instability. Both Step-shaped and trapezoidal acceleration profiles in the CNC system improve the dynamic behavior of the robot. Considering the trade-off between path accuracy and motion velocity, the Step-shaped acceleration profile can be applied to the optimization of the traditional robot motion control.

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Section: Introductionmentioning

confidence: 99%

Dynamic behavior and path accuracy of an industrial robot with a CNC controller

Kuhlenkoetter

2022

Advances in Mechanical Engineering

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An online error compensation strategy for hybrid robot based on grating feedback

Cheng,

Xiao,

Zhao

et al. 2024

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PurposeThis paper aims to enhance the machining accuracy of hybrid robots by treating the moving platform as the first joint of a serial robot for direct position measurement and integrating external grating sensors with motor encoders for real-time error compensation.Design/methodology/approachInitially, a spherical coordinate system is established using one linear and two circular grating sensors. This system enables direct acquisition of the moving platform’s position in the hybrid robot. Subsequently, during the coarse interpolation stage, the motor command for the next interpolation point is dynamically updated using error data from external grating sensors and motor encoders. Finally, fuzzy proportional integral derivative (PID) control is applied to maintain robot stability post-compensation.FindingsExperiments were conducted on the TriMule-600 hybrid robot. The results indicate that the following errors of the five grating sensors are reduced by 94%, 93%, 80%, 75% and 88% respectively, after compensation. Using the fourth drive joint as an example, it was verified that fuzzy adaptive PID control performs better than traditional PID control.Practical implicationsThe proposed online error compensation strategy significantly enhances the positional accuracy of the robot end, thereby improving the actual processing quality of the workpiece.Social implicationsThis method presents a technique for achieving online error compensation in hybrid robots, which promotes the advancement of the manufacturing industry.Originality/valueThis paper proposes a cost-effective and practical method for online error compensation in hybrid robots using grating sensors, which contributes to the advancement of hybrid robot technology.

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